摘要并联机构是一种由多个并行链构成的闭环系统，与传统的串联机构相比较， 具有高刚度、高精度、高承载能力、结构简单紧凑以及较为容易实现高速运动等诸多优点， 吸引了国内外学术界、工程界的广泛关注， 其应用也涉及了现代尖端技术的各个领域。其中3-SPS-S机构也是十分具备实用性的一类并联机构。在了解了国内外并联机构发展现状的基础上，设计了一种3-SPS-S并联机构，对该机构应用位置反解的方法进行了位置分析；绘制了该机构的三维模型图并进行了模拟仿真。对于该机构的各个系统的设计过程进行了分别介绍，介绍了机构各部件在机构中的作用。列举了各个重要零部件的三维模型图和尺寸图，还对一些重要零部件的安装位置和安装方式做出了说明。本设计为典型3-SPS-S系统的研究提供了一定的参考。62941

毕业论文关键词：3-SPS-S并联机构、位置分析 、三维模型图、模拟仿真、结构设计、安装

 毕业设计说明书（论文）外文摘要

Title  Evolution mechanism design of Stewart platform

Abstract

Parallel mechanism is a closed-loop system composed of a plurality of parallel chains. Compared with the traditional serial mechanism, it has a series of advantages such as  high rigidity, high-precision, high load carrying capacity, simple and compact structure that is easy to implement high-speed motion.It has attracted widespread concern in academic circles and engineering sector at home and abroad and it has been applicated in almost all areas of modern cutting-edge technology. 3-SPS-S institutions is also a kind of parallel mechanism of much practicability. Based on the understanding of the present development of parallel institutions at home and abroad，one kind of 3-SPS-S parallel institutions has been designed. Firstly, the agency application position inverse solution method are analyzed in position. Secondly, diagram of the 3D model agency has been drawn and a simulation has been carried out. Thirdly, the deign process of each system has been introduced. The role of body parts in institutions was diplayed.Lastly, all the 3D model chart and size chart of the important components have been listed, and the installation position of some important components and installation method have been Illustrated. The design provides a certain reference for the study of typical 3-SPS-S system.

Key words: 3-SPS-S parallel mechanism,position analysis,3D model figure ,simulation, structure design, installation

目  录

1．绪论 1

1.1  课题背景 1

1.2  3-SPS-S并联机构简介 1

1.3国内外发展现状 1

1.3.1国外发展现状 1

1.3.2国内发展现状 2

1.4研究内容 3

1.5研究手段 4

1.6本章小结 5

2. 3-SPS-S机构的位置分析 5

2.1位置分析简介 5

2.2机构简介 5

2.2.1机构坐标系建立 6

2.2.2机构的自由度分析 6

2.3机构求解 7

2.3.1位置反解模型方法一 7

2.3.2雅可比矩阵求解 7

2.3.3位置反解模型方法二 8

2.4本章小结